Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Revision:
12:c473a25f54f7
Parent:
11:c83b18d41e54
Child:
14:80ce59119d93
--- a/main.cpp	Sun May 22 00:14:59 2016 +0000
+++ b/main.cpp	Sun May 22 03:38:19 2016 +0000
@@ -28,7 +28,7 @@
 
 
 
-CurrentRegulator foc(&inverter, &spi, .005, .5);    
+CurrentRegulator foc(&inverter, &spi, &encoder, 0.000033, .005, .5);    
 TorqueController torqueController(.031f, &foc);
 ImpedanceController impedanceController(&torqueController, &spi, &encoder);